cl2 基于设备状态和任务状态分步生成设备任务消息

servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java

@@ -94,6 +94,9 @@ public class AmrMessageHandler {
     public void handleAgvRobotStatusMessage(MqttMessage message) throws MqttException, JsonProcessingException {
         byte[] messageData = message.getPayload();
         String json = new String(messageData, StandardCharsets.UTF_8);
+
+        log.debug("收到消息: {}", json);
+
         JsonWrapper jw = new JsonWrapper(json);
         int id = jw.asInt("id");
         String agvId = jw.asInt("content", "VehicleId") + "";
@@ -206,7 +209,7 @@ public class AmrMessageHandler {
             list.toArray(ar);
             BannerUtils.printConfig(log, "MQTT 发送报文 [" + id + "] RcsMessageType." + RcsMessageType.fromValue(id) + " - " + RcsMessageType.fromValue(id).description, ar);
         }
-
+        log.debug("发送消息: {}", payload);
         ptrMqttClient.publish(topic, payload);
     }
 
@@ -450,7 +453,7 @@ public class AmrMessageHandler {
         agvItem.updateRedisStatus();
     }
 
-    private void handleTaskStatusMessage(PtrAgvItem agvItem, JsonWrapper jw, String json) {
+    private void handleTaskStatusMessage(PtrAgvItem agvItem, JsonWrapper jw, String json) throws MqttException, JsonProcessingException {
         // int eventId = jw.asInt("content", "EventId");
         // int seqNo = jw.asInt("content", "SeqNo");
         //
@@ -484,6 +487,9 @@ public class AmrMessageHandler {
                 AmrTaskStatusMessage<TaskModeChangeData> modeMessage = taskModeChange.content;
                 agvItem.updateDeviceTaskStatus((int) modeMessage.SeqNo, 0, 0, modeMessage.EventId);
                 agvItem.updateTaskMode(modeMessage.Info.TaskMode);
+                if (modeMessage.Info.TaskMode == 1) {
+                    this.sendCmdConfig(agvItem.id, agvItem.getConfig());
+                }
                 break;
             case 4:
                 AmrMessage<AmrTaskStatusMessage<TaskCompletedData>> taskCompleted = JacksonUtils.parse(json, typeRef20011_4Message);

servo/src/main/java/com/galaxis/rcs/ptr/PtrAgvItem.java

@@ -708,7 +708,7 @@ public abstract class PtrAgvItem extends ExecutorItem {
                 deviceTask.operationType = COperationType.charge;
                 deviceTask.planTaskIdSet.add(plan.getPlanTaskId());
                 // 处理充电距离(车的充电口到充电器被压下后的距离、一般被压下20mm)
-                deviceTask.chargeDirection = 0;
+                deviceTask.chargeDirection = 2;
                 deviceTask.chargeLocation = 200;
                 // 标记任务分组结束
                 deviceTask.isGroupEnd = true;

servo/src/main/resources/logback-spring.xml

@@ -30,6 +30,19 @@
         </encoder>
     </appender>
 
+    <!-- 控制台日志：输出全部日志到控制台 -->
+    <appender name="STDOUT1" class="ch.qos.logback.core.ConsoleAppender">
+        <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
+            <Pattern>${ENCODER_PATTERN_CONSOLE}</Pattern>
+        </encoder>
+
+        <filter class="ch.qos.logback.classic.filter.ThresholdFilter">
+            <level>INFO</level>          <!-- 阈值设为DEBUG级别 -->
+            <onMatch>ACCEPT</onMatch>     <!-- 接受DEBUG及以上级别的日志 -->
+            <onMismatch>DENY</onMismatch> <!-- 拒绝DEBUG以下的日志（如TRACE）-->
+        </filter>
+    </appender>
+
     <!-- 文件日志：输出全部日志到文件 -->
     <appender name="FILE" class="ch.qos.logback.core.rolling.RollingFileAppender">
         <file>${LOG_PATH}/${FILE_NAME}.log</file>
@@ -67,7 +80,7 @@
         <encoder class="ch.qos.logback.classic.encoder.PatternLayoutEncoder">
             <pattern>${ENCODER_PATTERN}</pattern>
         </encoder>
-        <filter class="ch.qos.logback.classic.filter.ThresholdFilter">
+        <filter class="ch.qos.logback.classic.filter.LevelFilter">
             <level>DEBUG</level>
             <onMatch>ACCEPT</onMatch>
             <onMismatch>DENY</onMismatch>
@@ -82,6 +95,7 @@
     <!-- AMR 报文日志 -->
     <logger name="com.galaxis.rcs.ptr.AmrMessageHandler" level="DEBUG" additivity="false">
         <appender-ref ref="AMR_FILE"/>
+        <appender-ref ref="STDOUT1"/>
     </logger>
 
     <root level="INFO">